WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/application/Relay/main.c

  *---------------------------------------------------------------------------*/
 /* system files */
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <stdio.h>
-#include <avr/wdt.h>
 /* lib files */
 #include <bios.h>
 #include <tc1047.h>
 #include <funcdefs.h>
 /* defines */
 #define GROUP_ID        0x01UL
-#define RELAY_OFF           0x01UL
+#define RELAY_OFF           0x01
-#define RELAY_ON            0x02UL
+#define RELAY_ON            0x02
-#define FAILSAFE_MODE       0x0FUL
+#define FAILSAFE_MODE       0x0F
 #define FAILSAFE_TRESHOLD   60  /* Degrees when nodeRelay goes into failsafe mode */
-#define RELAY_CMD_ON        0x01UL
+#define RELAY_CMD_ON        0x01
-#define RELAY_CMD_OFF       0x02UL
+#define RELAY_CMD_OFF       0x02
-#define RELAY_CMD_TOGGLE    0x03UL
+#define RELAY_CMD_TOGGLE    0x03
-#define RELAY_CMD_STATUS    0x04UL
+#define RELAY_CMD_STATUS    0x04
-#define RELAY_CMD_RESET     0x05UL
+#define RELAY_CMD_RESET     0x05
-#define STATUS_SEND_PERIOD  10000 /* milliseconds */
+#define STATUS_SEND_PERIOD  10000UL /* milliseconds */
-#define FAILSAFE_SEND_PERIOD    10000 /* milliseconds */
+#define FAILSAFE_SEND_PERIOD    10000UL /* milliseconds */
 #define BOUNCE_TIME         10 /* milliseconds */
 #define BUTTON1             1
 #define BUTTON2             2
+#define TRUE    1
+#define FALSE   0
 /*-------------------------------------------------------------------------
  * Global variables
  * -----------------------------------------------------------------------*/
-#if TWO_BUTTON_MODE
+uint8_t relayStatus, failsafe_flag = FALSE, rxMsg_Data_bytes[8], msg_received = FALSE;
-Can_Message_t txMsg_Button;
+uint32_t boardTemperature = 0;
-#endif
-uint8_t relayStatus, failsafe_flag = 0;
-uint32_t boardTemperature = 0;
-Can_Message_t txMsg;
 /*----------------------------------------------------------------------------
  * Functions
  * -------------------------------------------------------------------------*/
 uint8_t relayOff();
 uint8_t relayOn();
 void relayFailsafe();
+void sendStatus();
-void can_receive(Can_Message_t *msg){
+void can_receive(Can_Message_t *msg)
+{ // CAN callback function
     uint32_t act;
-    uint32_t m, act_type, group, node;
+    uint8_t m, act_type, group, node;
     if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){
+        // Actuator package
         act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
-        act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
+        act_type =(uint8_t)((act & ACT_TYPE_MASK) >> ACT_TYPE_BITS);
-        group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS;
+        group = (uint8_t)((act & ACT_GROUP_MASK) >> ACT_GROUP_BITS);
-        node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS;
+        node = (uint8_t)((act & ACT_NODE_MASK) >> ACT_NODE_BITS);
         if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){
-            if(msg->Data.bytes[0] == RELAY_CMD_ON && !failsafe_flag){
-                // Turn relay on
-                relayStatus = relayOn();
-            }else if(msg->Data.bytes[0] == RELAY_CMD_OFF && !failsafe_flag){
-                // Turn relay off
-                relayStatus = relayOff();
-                txMsg.Id = 0x8000111UL; // FIXME
-                bios->can_send(&txMsg);
-            }else if(msg->Data.bytes[0] == RELAY_CMD_TOGGLE && !failsafe_flag){
-                    // Toggle relay
-                    if(relayStatus == RELAY_OFF){
-                        relayStatus = relayOn();
-                    }else{
-                        relayStatus = relayOff();
-                        txMsg.Id = 0x8000113UL; // FIXME
-                        bios->can_send(&txMsg);
-                    }
-            }else if(msg->Data.bytes[0] == RELAY_CMD_STATUS && !failsafe_flag){
-                // Send relay status to CAN
+            // This is a message for this node
-                boardTemperature = getTC1047temperature();
-                if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
-                    // Goto failsafe mode
-                    relayFailsafe();
-                }else{
-                    // Transmitt node status
-                    txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
-                    txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
-                    txMsg.Data.bytes[2] = relayStatus;
-                    txMsg.Data.bytes[3] = 0;
-                    txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
-                    bios->can_send( &txMsg );
-                }
-            }else if(msg->Data.bytes[0] == RELAY_CMD_RESET){
+            if(rxMsg_Data_bytes[0] == RELAY_CMD_RESET){
                 // Return to normal operation
                 failsafe_flag = 0;
+            }
+            for(m=0;m<(msg->DataLength);m++){
+                rxMsg_Data_bytes[m] = msg->Data.bytes[m];
+            }
+            msg_received = TRUE; // Tell application that message has arrived
+        }
+    }
+}
 /*----------------------------------------------------------------------------
  * Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
  * -------------------------------------------------------------------------*/
 #if TWO_BUTTON_MODE
 ISR( PCINT2_vect )
+{
-    /*
-     * Auxiliary button pressed and released
-     * Check time between press and release to eliminate bounces
-     */
-    static uint32_t buttonTime[2];
-    txMsg_Button.RemoteFlag = 0;
-    txMsg_Button.ExtendedFlag = 1;
-    if( (PIND & (1<<PD6)) == 0){
-        /* Button pressed */
-        buttonTime[0] = Timebase_CurrentTime();
-    }else if( (PIND & (1<<PD6)) == 1){
-        if( Timebase_PassedTimeMillis( buttonTime[0] ) >= BOUNCE_TIME ){
-            /* No bounce, send message */
-            txMsg_Button.Id = BUTTON_ID;
-            txMsg_Button.DataLength = 1;
-            txMsg_Button.Data.bytes[0] = BUTTON1;
-            return;
-        }else{
-            /* Just bounces, ignore it */
-            return;
-        }
-    }
-    if( (PIND & (1<<PD7)) == 0){
-        /* Button pressed */
-        buttonTime[1] = Timebase_CurrentTime();
-    }else if( (PIND & (1<<PD7)) == 1){
-        if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){
-            /* No bounce, send message */
-            txMsg_Button.Id = BUTTON_ID;
-            txMsg_Button.DataLength = 1;
-            txMsg_Button.Data.bytes[0] = BUTTON2;
-            return;
-        }else{
-            /* Just bounces, ignore it */
-            return;
-        }
-    }
+}
 #endif
 /*-----------------------------------------------------------------------------
  * Main Program
  *---------------------------------------------------------------------------*/
 int main(void) {
-    adcTemperatureInit();
-#if TWO_BUTTON_MODE
-#error two button mode not yet tested
-    /*
-     * Initialize buttons
-     * It is possible to use ie. sensors instead
+    uint32_t timeStamp = bios->timebase_get(), temp = timeStamp;
-     * but then change this
-     */
-    // Set as input and enable pull-up
-    DDRD &= ~( (1<<DDD6)|(1<<DDD7) );
-    PORTD |= (1<<PD6)|(1<<PD7);
-    // Enable IO-pin interrupt
-    PCICR |= (1<<PCIE1);
-    // Unmask PD6 and PD7
-    PCMSK2 |= (1<<PCINT22) | (1<<PCINT23);
-#endif
-    // Control channel for relay
-    DDRC |= (1<<DDC1);
+    Can_Message_t txMsg;
-    // Set up callback for CAN messages
-//  bios->can_callback = &can_receive;
     txMsg.RemoteFlag = 0;
     txMsg.ExtendedFlag = 1;
     txMsg.DataLength = 4;
+    adcTemperatureInit();
+    // Set up callback for CAN messages
+    bios->can_callback = &can_receive;
     sei();
     // Turn relay off
     relayStatus = relayOff();
-    txMsg.Id = 0x8000110UL; // FIXME
+//  txMsg.Id = 0x8000110; // FIXME
-    bios->can_send(&txMsg);
+//  bios->can_send(&txMsg);
-    uint32_t timeStamp = bios->timebase_get(), temp;
+    // Main loop
+    while (1) {
+        if(msg_received && !failsafe_flag ){
+            if( rxMsg_Data_bytes[0] == RELAY_CMD_ON ){
-    // Main loop
+                // Turn relay on
+                relayStatus = relayOn();
+            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_OFF ){
+                // Turn relay off
+                relayStatus = relayOff();
+            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_TOGGLE ){
+                    // Toggle relay
+                    if(relayStatus == RELAY_OFF){
+                        relayStatus = relayOn();
-    while (1) {
+                    }else{
+                        relayStatus = relayOff();
+                    }
+            }else if(rxMsg_Data_bytes[0] == RELAY_CMD_STATUS ){
+                // Send relay status to CAN
+                sendStatus();
+            }
+            msg_received = FALSE;
+        }
         temp = bios->timebase_get();
         if( temp - timeStamp >= STATUS_SEND_PERIOD ){
             timeStamp = temp;
-            // Send relay status to CAN
-//          boardTemperature = getTC1047temperature();
-//          if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
-//              relayFailsafe();
+/*          txMsg.Id = 0x8000111;
-//          }else{
-                txMsg.Data.bytes[0] = timeStamp & 0x000000FF; //boardTemperature & 0x00FF;
+            txMsg.Data.bytes[0] = timeStamp & 0x000000FF;
-                txMsg.Data.bytes[1] = (timeStamp & 0x0000FF00)>>8; //(boardTemperature & 0xFF00)>>8;
+            txMsg.Data.bytes[0] = (timeStamp & 0x0000FF00)>>8;
-                txMsg.Data.bytes[2] = (timeStamp & 0x00FF0000)>>16; //relayStatus;
+            txMsg.Data.bytes[0] = (timeStamp & 0x00FF0000)>>16;
-                txMsg.Data.bytes[3] = (timeStamp & 0xFF000000)>>24; //0;
+            txMsg.Data.bytes[0] = (timeStamp & 0xFF000000)>>24;
-                txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
-                bios->can_send( &txMsg );
+            bios->can_send(&txMsg);
+*/          // Send relay status to CAN
-//          }
+            sendStatus();
         }
+    }
     return 0;
+}
 uint8_t relayOff()
+{
     // Turn off relay
     PORTC &= ~(1<<PC1);
-    DDRC |= (1<<DDC1); // FIXME
+    DDRC |= (1<<DDC1);
     return RELAY_OFF;
 }
 uint8_t relayOn()
+{
     // Turn on relay
-    DDRC &= ~(1<<DDC1); // FIXME
+    DDRC &= ~(1<<DDC1);
     PORTC |= (1<<PC1);
     return RELAY_ON;
+}
 void relayFailsafe()
+{
-    uint32_t timeStamp = 0;
+    uint32_t failsafe_timeStamp, temp;
     relayStatus = relayOff();
     failsafe_flag = 1;
     while(1){
         if( !failsafe_flag ){
             // Return from failsafe mode
             return;
         }
+// TODO skicka med period
+        sendStatus( );
+    }
+}
+void sendStatus()
+{
-        if( bios->timebase_get() - timeStamp >= FAILSAFE_SEND_PERIOD ){
+    uint32_t temperature;
-            timeStamp = bios->timebase_get();
+    Can_Message_t statusMsg;
-            // Send relay status to CAN
+    statusMsg.RemoteFlag = 0;
+    statusMsg.ExtendedFlag = 1;
-            boardTemperature = getTC1047temperature();
+    statusMsg.DataLength = 4;
+    statusMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
+    temperature = getTC1047temperature();
+    if( (int32_t)temperature >= FAILSAFE_TRESHOLD && !failsafe_flag ){
+        // Goto failsafe mode
+        relayFailsafe();
+    }else{
+        // Transmitt node status
-            txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
+        statusMsg.Data.bytes[0] = temperature & 0x00FF;
-            txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
+        statusMsg.Data.bytes[1] = (temperature & 0xFF00)>>8;
-            txMsg.Data.bytes[2] = relayStatus;
+        statusMsg.Data.bytes[2] = relayStatus;
-            txMsg.Data.bytes[3] = FAILSAFE_MODE;
+        statusMsg.Data.bytes[3] = failsafe_flag;
-            txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
-            bios->can_send( &txMsg );
+        bios->can_send( &statusMsg );
-        }
+    }
+}

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(root)/trunk/EmbeddedSoftware/AVR/application/Relay/main.c @ 1663 – Rev 354 → 360